Detection of floating garbage in inland rivers is crucial for water environmental protection,as it effectively reduces ecological damage and ensures the safety of water resources.To address the inefficiency of traditi...Detection of floating garbage in inland rivers is crucial for water environmental protection,as it effectively reduces ecological damage and ensures the safety of water resources.To address the inefficiency of traditional cleanup methods and the challenges in detecting small targets,an improved YOLOv5 object detection model was proposed in this study.In order to enhance the model’s sensitivity to small targets and mitigate the impact of redundant information on detection performance,a bi-level routing attention mechanism was introduced and embedded into the backbone network.Additionally,a multi-scale detection head was incorporated into the model,allowing for more comprehensive coverage of floating garbage of various sizes through multi-scale feature extraction and detection.The Focal-EIoU loss function was also employed to optimize the model parameters,improving localization accuracy.Experimental results on the publicly available FloW_Img dataset demonstrated that the improved YOLOv5 model outperforms the original YOLOv5 model in terms of precision and recall,achieving a mAP(mean average precision)of 86.12%,with significant improvements and faster convergence.展开更多
In this paper, a modified sliding-mode adaptive controller is derived to achieve stability and output regulation for a class of dynamical systems represented by a non-homogeneous differential equation with unknown tim...In this paper, a modified sliding-mode adaptive controller is derived to achieve stability and output regulation for a class of dynamical systems represented by a non-homogeneous differential equation with unknown time-varying coefficients and unknown force function. In this scheme, the control law is constructed in terms of estimated values for the bounds of the unknown coefficients, where these values are continuously updated by adaptive laws to ensure asymptotic convergence to zero for the output function. The proposed controller is applied to solve the problem of pitch angle regulation for a floating wind turbine with dynamic uncertainty and external disturbances. Numerical simulations are performed to demonstrate the validity of the designed controller to achieve the desired pitch angle for the floating turbine＇s body.展开更多
文摘Detection of floating garbage in inland rivers is crucial for water environmental protection,as it effectively reduces ecological damage and ensures the safety of water resources.To address the inefficiency of traditional cleanup methods and the challenges in detecting small targets,an improved YOLOv5 object detection model was proposed in this study.In order to enhance the model’s sensitivity to small targets and mitigate the impact of redundant information on detection performance,a bi-level routing attention mechanism was introduced and embedded into the backbone network.Additionally,a multi-scale detection head was incorporated into the model,allowing for more comprehensive coverage of floating garbage of various sizes through multi-scale feature extraction and detection.The Focal-EIoU loss function was also employed to optimize the model parameters,improving localization accuracy.Experimental results on the publicly available FloW_Img dataset demonstrated that the improved YOLOv5 model outperforms the original YOLOv5 model in terms of precision and recall,achieving a mAP(mean average precision)of 86.12%,with significant improvements and faster convergence.
文摘In this paper, a modified sliding-mode adaptive controller is derived to achieve stability and output regulation for a class of dynamical systems represented by a non-homogeneous differential equation with unknown time-varying coefficients and unknown force function. In this scheme, the control law is constructed in terms of estimated values for the bounds of the unknown coefficients, where these values are continuously updated by adaptive laws to ensure asymptotic convergence to zero for the output function. The proposed controller is applied to solve the problem of pitch angle regulation for a floating wind turbine with dynamic uncertainty and external disturbances. Numerical simulations are performed to demonstrate the validity of the designed controller to achieve the desired pitch angle for the floating turbine＇s body.
